\abstract{
This Master's thesis has three main goals. The first is the design and evaluation of an open teleoperation experimental platform, where it will be possible to implement remote handling techniques. The second, derived from the above, is that the platform will be useful for future research work carried out by the group of robots and intelligent machines, and finally, the possibility of implementing the techniques developed in this work and analyzing its advantages and disadvantages.

First, a brief introduction is followed by an overview of everything that characterizes teleoperation systems with a special focus on nuclear environments. Thus, factors to consider are introduced, main control system components and a brief state of the art with some examples of current developments among others.

Then, several bilateral control schemes classics are addressed, studing its operation, analyzing the factors affecting their performance and the conditions that allow their proper operation, all this, in order to experimentally know the advantages and disadvantages of such schemes.

Also the most research part of this work is included, first with the study of the integration of ROS in the existing teleoperation system, addressing the possibility of using it as a communications channel and then implementing features to extend the capabilities of the system. Also is presented the design and implementation of a hybrid control architecture, such control is oriented to slave manipulators with ample workspace, using a small-sized master device. Finally, is expected to summarize the results and conclusions obtained in order to make an assessment of the work done.
}